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Optimization of anti-windup controller design is achieved for non-linear systems with actuator saturation. The systems are represented as Euler-Lagrange systems, and the proportional and integral (PI) controller, in which the gravity term is cancelled by a non-linear compensation technique, is used. The goal of optimization is to minimize the saturated input, i.e., the difference between the control...
Welding is an important operation in manufacturing processes and it can represent a highly relevant amount of production costs, depending on material workpieces and required weld quantity. In mechanised and robotised welding processes, robot's travel velocity is an important parameter, which requires a proper regulation to obtain a good quality for weld beam. Then, in this work, a nonlinear model...
The robotic welding processes have been highly widespread in manufacturing industries due to large-scale production. An area where these processes are widely applied are shipyards, where there are necessary hundreds to thousands of kilograms of weld by hour. However, systems that operate in open-air environments are vulnerable to sundry disturbances, noises in measures, as well as possible unavailability...
Flapping Wing Micro Aerial Vehicle (MAV) is the development of Unmanned Aerial Vehicle (UAV) which is smaller and lighter. GaneFly is a flapping wing MAV robot developed in this paper. GaneFly flying platform is designed to be able to fly with flapping mechanism that adapts the flapping wing of the dragonfly and also designed to be able to turn and pitch according to the input command. Design of the...
This paper presents a novel nonlinear velocity estimation method for robotic joints based on inverse hyperbolic sine tracing differential algorithm. Unlike the conventional methods that using the motor-side position measurements to obtain the joint velocity, this paper addresses the problem of joint velocity estimation that using the link-side absolute encoder data, so that the kinematic error caused...
Conducted emission of motors is a domain of interest for EMC as it may introduce disturbances in the system in which they are integrated. Nevertheless few publications deal with the susceptibility of motors, and especially, servomotors despite this devices are more and more used in automated production lines as well as for robotics. Recent papers have been released devoted to the possibility of compromising...
This paper describes a preliminary development to an automatic tennis ball collecting machine. The framework adopts a roller to collect tennis balls when moving. Tennis balls are detected and tracked automatically by computer vision while hardware acceleration is used to improve efficiency. For navigation, fuzzy control and 6 ultrasonic sensors are used to avoid obstacles when approaching the targets...
Optimization of dynamic anti-windup is achieved for non-linear planner robot systems with actuator saturation. The static anti-windup scheme is expanded to a dynamic scheme based on passivity. The systems are represented as Euler-Lagrange systems without the gravity term, and the proportional and integral (PI) controller is used. The goal of optimization is to minimize the saturated input, i.e., the...
The active mode rehabilitation robot is recently developed to help paralysis patients in improving their capability. The robot is usually completed with load and weighting mechanism. This paper presents an alternative weighting mechanism of active mode rehabilitation robot by using spiral spring as load source. PI controller is used to ensure the link reaching its last position by controlling the...
The high precision Loading unloading robot under studied is one of the CNC Machines developed to support the Intra-ocular Eye-Lens manufacturing process. the Robot uses two DC Servo Motor as the actuators for the position control in cartesian coordinate. The desired specification of the Robot is of a very high accuracy which is reaching 10μm in high speed, such that it is necessary to understand the...
In this paper, a solution for pruning tree branches close to electric power lines using a hexarotor helicopter equipped with a circular saw and a robotic gripper is proposed. The solution consists of flying to the target, in this case the branch to be pruned, fix the helicopter to it and finally, prune the tree branch with a circular saw. In this first approach, we propose a novel skew-gripper design...
The main goal of this study is to analyse the effects of combined transcranial direct current stimulation (tDCS) and wrist robot-assisted therapy in subacute stroke patients. Twenty-four patients were included in this study and randomly assigned to the experimental (EG) or control group (CG). All participants performed wrist robot-assisted training a) in conjunction with tDCS (real stimulation for...
The Pole Placement Control is a control strategy to reallocate poles of a system forcing a desired behaviour to it. The technique is established on states feedback backed by a gain matrix. States are estimated when they are not directly available. Then, in this work a pole placement control based on Discrete Kalman Filter, in discrete time, for feedback states was applied over a linear welding robot...
The vascular intervention is performed with radioactive image guidance, so the operators are exposed to radiation. During the vascular intervention, the contrast media is injected often for providing clear images of target lesion. Repetitive injection task increases the procedure time and inconvenience. Also, accurate dosage is important to avoid the side effects from over usage of the contrast media...
Despite being well established in robotics, classical motor controllers have several disadvantages: they pose a high computational load, therefore requiring powerful devices, they are not easy to tune and they are not suited for neuroprosthetics. In contrast, bio-inspired controller do not transform the output of the controller therefore no delays are introduced and a smooth response is achieved;...
A self-reconfigurable modular robotic system has potential to carry out a wide variety of tasks in various fields and conditions. For realizing such versatileness and robustness, the compositional modules have to be designed so that the combined structure is equipped with high degree of freedom of the self-reconfiguration. We propose a new design of a modular robot using helically magnetized axes...
The article focuses on modifications made on an existing gripper mounted on a teleoperated manipulator arm of the military mobile robotic system TAROS. The reason of these modifications was to allow handling of objects with a large range of weight and strength, which requires fully and precisely adjustable gripping force with feedback. The implemented solution uses a strain gauge applied to a selected...
There is currently a scarcity of wearable robotic devices that can practically provide physical assistance in a range of real world activities. Soft wearable exoskeletons, or exosuits, have the potential to be more portable and less restrictive than their rigid counterparts. In this paper, we present the design of an actuation system that has been optimized for use in a soft exosuit for the human...
Actuators for human-interactive robot systems require transparency and guaranteed safety. An actuation system is called transparent, when it is able to generate an actuation force as desired without any actuator dynamics. The requirements for the transparent actuation include high precision and large frequency bandwidth in actuation force generation, zero mechanical impedance, and so on. In this paper,...
More than 40 percent of the population in the world chooses agriculture as the primary occupation. In recent years, increased interest has grown for the development of the autonomous vehicles like robots in the agriculture. The existing agricultural robot performs basic elementary functions like harvesting, planting and spreading the pesticides. The Proposed system aims at designing multipurpose autonomous...
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